#!/usr/bin/env zsh
REST=$@
EXP_DIR="./phaser_test_data/test_clouds/os0/"

rosrun phaser_core phaser_core_driver \
  --v=3 \
  --alsologtostderr=1 \
  --target_cloud="${EXP_DIR}target_1.ply" \
  --source_cloud="${EXP_DIR}source_1.ply" \
  --reg_cloud="./registered.ply" \
  --phaser_core_spherical_bandwidth=150 \
  --phaser_core_spherical_low_pass_lower_bound=000 \
  --phaser_core_spherical_low_pass_upper_bound=10000 \
  --phaser_core_spherical_zero_padding=10 \
  --phaser_core_spatial_n_voxels=201 \
  --phaser_core_spatial_discretize_lower=-50 \
  --phaser_core_spatial_discretize_upper=50 \
  --phaser_core_spatial_low_pass_lower_bound=85 \
  --phaser_core_spatial_low_pass_upper_bound=115 \
  --phaser_core_spatial_zero_padding=0 \
  --gaussian_peak_neighbors=0 \
  --bingham_peak_neighbors=0 \
  --z_score_filter_threshold=0.01 \
  --z_score_lag_max=3 \
  --z_score_threshold=3.0 \
  --phaser_pre_enable_geometric_cloud_segmentation=false \
  $REST
